Changeset 914

Timestamp:

08/23/01 14:41:03 (23 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy

Files:

• Changelog (modified) (2 diffs)
• MCosy.cc (modified) (14 diffs)
• MCosy.h (modified) (5 diffs)
• Makefile (modified) (2 diffs)
• base/coord.h (modified) (1 diff)

trunk/MagicSoft/Cosy/Changelog

@@ -39 +39 @@
      - reorganized parts of the existing code
 
+   * devdrv/macs.cc:
+     - changed some output from cout to lout
+
 
 
@@ -100 +103 @@
 
     * slalib/Makefile:
-    - added missing files
-    
+      - added missing files
 
 

trunk/MagicSoft/Cosy/MCosy.cc

@@ -9 +9 @@
 #include <TSystem.h>
 #include <TApplication.h>
+#include <TTimer.h>
 
 #include "MGCosy.h"
@@ -151 +152 @@
 }
 
+ZdAz MCosy::GetRePosPdo()
+{
+    return ZdAz(fMac2->GetPdoPos(), fMac1->GetPdoPos());
+}
+
 int MCosy::SetPosition(const ZdAz &dst) // [rad]
 {
-    // FIXME: CORRECT BY fOffset !!!!!!!!!!
+    // FIXME: CORRECT BY fTrackingError !!!!!!!!!!
 
     //
@@ -336 +342 @@
         dest = CorrectTarget(GetSePos(), sla.CalcZdAz(dst));
 
+        //
+        // Request absolute position of rotary encoder from MACS
+        //
         fMac2->RequestSDO(0x6004);
         fMac1->RequestSDO(0x6004);
@@ -346 +355 @@
 
         //
-        // Copy fOffset to a local variable
+        // Copy fTrackingError to a local variable
         //
         ZdAz offset = fOffset;
@@ -402 +411 @@
             dest0 *= kGearRatio;
             dest0 -= GetRePos()+offset;
-            dest0.Round();
+            //dest0.Round();
 
             fAccuracy = dest0/kGearRatio2; // [deg]
+            fVelocity = vt/kGearRatio2;
 
             //cout << "Control deviation: ";
             fout << setprecision(15) << setw(15) << mjd*60.*60.*24. << " ";
-            fout << setw(4) << (int)fOffset.Zd() << " ";
-            fout << setw(4) << (int)fOffset.Az() << " ";
+            fout << setw(4) << (int)fTrackingError.Zd() << " ";
+            fout << setw(4) << (int)fTrackingError.Az() << " ";
             fout << setw(4) << dest0.Zd() << " ";
             fout << setw(4) << dest0.Az() << " ";
@@ -515 +525 @@
     return (void*)0xffffffff;
 }
-
+/*
 void *MTGui::Thread()
 {
@@ -521 +531 @@
     return NULL;
 }
-
+*/
 void *MTTalk::Thread()
 {
@@ -609 +619 @@
             usleep(1);
 
-        ZdAz sollalt; // [se]
-        ZdAz sollaz;  // [se]
         ZdAz old;
-
-        ZdAz ist=fOffset/kGearRatio;     // [se]
-        //
-        // only update fOffset while tracking
-        //
+        ZdAz ist   = fTrackingError/kGearRatio;     // [se]
+        ZdAz istre = fOffset;                       // [re]
+        //
+        // only update fTrackingError while tracking
+        //
+        ZdAz sollzd;
+        ZdAz sollaz;
         while (fTracking)
         {
-            usleep(100000/*00*/); // 0.1s
+            //
+            // This is the time constant which defines how fast
+            // you correct for external influences (like wind)
+            //
+            usleep(100000); // 0.1s
 
             //
             // Make changes (eg wind) smoother - attenuation of control function
             //
-
-            ZdAz offset(fOffset.Zd()*9.0/10.0+((ist.Zd()-sollalt.Zd())*kGearRatio.X())/10.0,
-                        fOffset.Az()*9.0/10.0+((ist.Az()-sollaz.Az()) *kGearRatio.Y())/10.0);
+            fTrackingError.Set((ist.Zd()-sollzd.Zd())*kGearRatio.X(),
+                               (ist.Az()-sollaz.Az())*kGearRatio.Y());
+
+
+            const float weight = 0.3;
+
+            ZdAz offset(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight,
+                        fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight);
 
             fOffset = offset;
-            // fOffset.Zd(((offset.Zd()>1000)||(offset.Zd()<-1000))?0:offset.Zd());
-            // fOffset.Az(((offset.Az()>1000)||(offset.Az()<-1000))?0:offset.Az());
+            // fTrackingError.Zd(((offset.Zd()>1000)||(offset.Zd()<-1000))?0:offset.Zd());
+            // fTrackingError.Az(((offset.Az()>1000)||(offset.Az()<-1000))?0:offset.Az());
 
             //
@@ -644 +663 @@
                 continue;
 
-            //
-            // if Alt Shaftencoder changed position
+            istre = GetRePosPdo();
+
+            //
+            // Get time from last shaftencoder position change (position: ist)
+            //
+            const double tzd = (fAlt1->GetMjd()+fAlt2->GetMjd())/2.0;
+            const double taz = fAz->GetMjd();
+
+            //
+            // if Shaftencoder changed position
+            // calculate were we should be
             //
             if ((int)ist.Zd() != (int)old.Zd())
             {
-                //
-                // Get time from last shaftencoder position change
-                //
-                const double t = (fAlt1->GetMjd()+fAlt2->GetMjd())/2.0;
-
-                //
-                // calculate were we should be
-                //
-                sla.SetMjd(t);
-                sollalt = CorrectTarget(ist, sla.CalcZdAz(fRaDec));
-
-                old.Zd(ist.Zd());
+                sla.SetMjd(tzd);
+                sollzd = CorrectTarget(ist, sla.CalcZdAz(fRaDec)); // [se]
             }
 
-            //
-            // if Alt Shaftencoder changed position
-            //
             if ((int)ist.Az() != (int)old.Az())
             {
-                //
-                // Get time from last shaftencoder position change
-                //
-                const double t = fAz->GetMjd();
-
-                //
-                // calculate were we should be
-                //
-                sla.SetMjd(t);
-                sollaz = CorrectTarget(ist, sla.CalcZdAz(fRaDec));
-
-                old.Az(ist.Az());
+                sla.SetMjd(taz);
+                sollaz = CorrectTarget(ist, sla.CalcZdAz(fRaDec)); // [se]
             }
+
+            old = ist;
         }
     }
 }
-
+/*
 void MCosy::GuiThread(MTGui *t)
 {
+    fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
+
+    fAz->SetDisplay(fWin->GetLabel1());
+    fAlt1->SetDisplay(fWin->GetLabel2());
+    fAlt2->SetDisplay(fWin->GetLabel3());
+
     while (!t->HasStopFlag())
     {
@@ -698 +711 @@
 
         ZdAz ist = GetSePos()*(360.0/16384.0); // [se]
-        fWin->Update(ist, fAccuracy);
+        fWin->Update(ist, fAccuracy, fVelocity, fTrackingError/kGearRatio2);
 
     }
+
+    delete fWin;
     cout << "Not running anymore." << endl;
 }
+*/
+Bool_t MCosy::HandleTimer(TTimer *t)
+{
+    //
+    // Update Gui, foremer MTGui.
+    //
+    fAlt1->DisplayVal();
+    fAlt2->DisplayVal();
+    fAz->DisplayVal();
+
+    // gSystem->ProcessEvents();
+
+    //    ZdAz err1 = fTrackingError/kGearRatio2;
+    //    ZdAz err2(30./3600., 20./3600.); // = fTrackingError/kGearRatio2;
+
+    ZdAz dummy = fOffset/kGearRatio2/4.; // /4. because using velocity canvas
+
+    ZdAz ist = GetSePos()*(360.0/16384.0); // [se]
+
+    fWin->Update(ist, fTrackingError/kGearRatio2, fVelocity, dummy);
+
+    //    cout << fTrackingError.Zd()/kGearRatio2.X()*3600. << " ";
+    //    cout << fTrackingError.Az()/kGearRatio2.Y()*3600. << endl;
+
+    return kTRUE;
+}
+
 
 int MCosy::StopWaitingForSDO() const
@@ -718 +760 @@
 
     lout << "- Starting GUI Thread." << endl;
-    fTGui = new MTGui(this);
+    fUpdateGui->TurnOn();
+    //    fTGui = new MTGui(this);
 }
 
 void MCosy::Stop()
 {
-    delete fTGui;
+    cout << "Stopping Gui Timer Events." << endl;
+    fUpdateGui->TurnOff();
+    //    delete fTGui;
     lout << "- GUI Thread stopped." << endl;
 
@@ -755 +800 @@
     SetNode(fAz);
 
+    //
+    // Create Gui Event timer and Gui
+    //
+    fUpdateGui = new TTimer(this, 100); // 100ms
+
     fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
 
@@ -760 +810 @@
     fAlt1->SetDisplay(fWin->GetLabel2());
     fAlt2->SetDisplay(fWin->GetLabel3());
+
 }
 
@@ -780 +831 @@
 MCosy::~MCosy()
 {
+    delete fUpdateGui;
+
     cout << "Deleting Nodes." << endl;
 

trunk/MagicSoft/Cosy/MCosy.h

@@ -21 +21 @@
 class MCosy;
 
+/*
 class MTGui : public MThread
 {
@@ -35 +36 @@
     }
 };
+*/
 
 class MTTalk : public MThread
@@ -51 +53 @@
     }
 };
-
-class MCosy : public Network, public MsgQueue
+class TTimer;
+class MCosy : public Network, public MsgQueue, public TObject
 {
     friend class MTGui;
@@ -68 +70 @@
     MGCosy *fWin;
 
-    MTGui  *fTGui; 
+    TTimer *fUpdateGui;
+
+    //MTGui  *fTGui;
     MTTalk *fTTalk;
 
-    ZdAz  fOffset;    // Tracking Offset between SE and calc-pos [re]
-    RaDec fRaDec;     // Position to track
-    int   fTracking;  // Flag for present tracking action
-    ZdAz  fAccuracy;  // Actual accuracy of Tracking
+    ZdAz  fTrackingError; // Tracking Offset between SE and calc-pos [re]
+    ZdAz  fOffset;        // Offset between se and re coordinate system [re]
+    RaDec fRaDec;         // Position to track
+    int   fTracking;      // Flag for present tracking action
+    ZdAz  fAccuracy;      // Actual accuracy of Tracking
+    ZdAz  fVelocity;      // Actual velocity of Tracking
 
     ZdAz GetRePos();
+    ZdAz GetRePosPdo();
     ZdAz GetSePos();     // [se]
 
@@ -99 +106 @@
     void *Proc(int msg, void *mp);
 
+    Bool_t HandleTimer(TTimer *t);
+
     static ZdAz CorrectTarget(const ZdAz &src, const ZdAz &dst);
 //    static ZdAz RaDec2ZdAz(const double mjd, const RaDec &pos, const RaDec &pm=RaDec(0,0));

trunk/MagicSoft/Cosy/Makefile

@@ -24 +24 @@
 CINT     = M
 INCLUDES = -I. -Iincl -Ibase -Igui -Idevdrv -Icandrv -Ivideodev -Icatalog
-LIBS     = -lpng -lz -L/usr/X11R6/lib
+LIBS     = -lpng -lz -L/usr/X11R6/lib -lpthread
 
 #
@@ -38 +38 @@
 #
 SUBDIRS = \
-        gui         \
-        candrv      \
-        devdrv      \
-        catalog     \
-        videodev    \
-        base        \
+        gui      \
+        candrv   \
+        catalog  \
+        devdrv   \
+        videodev \
+        base     \
         slalib
 

trunk/MagicSoft/Cosy/base/coord.h

@@ -78 +78 @@
 public:
     ZdAz(double zd=0, double az=0) : XY(zd, az) {}
+    ZdAz(const ZdAz &c) : XY(c) {}
 
     double Zd() const { return fX; }